private static PlanarRegionsList simpleOccludedEnvironment(boolean includeGoalPlane) { PlanarRegionsListGenerator generator = new PlanarRegionsListGenerator(); generator.addRectangle(2.0, 4.0); generator.translate(1.0, -1.0, 0.5); generator.rotate(0.5 * Math.PI, Axis.Y); generator.addRectangle(0.9, 1.9); if (includeGoalPlane) { generator.identity(); generator.translate(2.0, -1.0, 0.0); generator.addRectangle(1.0, 1.0); } return generator.getPlanarRegionsList(); }
public static PlanarRegionsList generateSteppingStoneField(double steppingStoneWidth, double steppingStoneLength, double stepWidth, double stepLength, int numberOfSteps) { PlanarRegionsListGenerator generator = new PlanarRegionsListGenerator(); double platformLength = 0.6; double platformWidth = 1.0; generator.addRectangle(platformLength, platformWidth); generator.translate(0.5 * platformLength, 0.0, 0.0); for (int i = 0; i < numberOfSteps; i++) { RobotSide side = (i % 2 == 0) ? RobotSide.LEFT : RobotSide.RIGHT; double xOffset = stepLength; double yOffset = side.negateIfRightSide(0.5 * stepWidth); generator.translate(xOffset, yOffset, 0.0); generator.addRectangle(steppingStoneLength, steppingStoneWidth); } generator.translate(stepLength + 0.5 * platformLength, 0.0, 0.0); generator.addRectangle(platformLength, platformWidth); return generator.getPlanarRegionsList(); }
public void addCubeReferencedAtCenter(double lengthX, double widthY, double heightZ) { RigidBodyTransformGenerator transformGeneratorTwo = new RigidBodyTransformGenerator(transformGenerator); transformGeneratorTwo.set(transformGenerator); transformGeneratorTwo.translate(0.0, 0.0, heightZ / 2.0); addRectangle(transformGeneratorTwo, lengthX, widthY); transformGeneratorTwo.translate(0.0, 0.0, -heightZ); addRectangle(transformGeneratorTwo, lengthX, widthY); transformGeneratorTwo.set(transformGenerator); transformGeneratorTwo.rotate(Math.PI / 2.0, Axis.Y); transformGeneratorTwo.translate(0.0, 0.0, lengthX / 2.0); addRectangle(transformGeneratorTwo, heightZ, widthY); transformGeneratorTwo.translate(0.0, 0.0, -lengthX); addRectangle(transformGeneratorTwo, heightZ, widthY); transformGeneratorTwo.set(transformGenerator); transformGeneratorTwo.rotate(Math.PI / 2.0, Axis.X); transformGeneratorTwo.translate(0.0, 0.0, widthY / 2.0); addRectangle(transformGeneratorTwo, lengthX, heightZ); transformGeneratorTwo.translate(0.0, 0.0, -widthY); addRectangle(transformGeneratorTwo, lengthX, heightZ); }
public AlternatingSlopesEnvironment(double rampWidth, double landingLength) { super(); this.rampWidth = rampWidth; generator.addRectangle(Math.sqrt(MathTools.square(landingLength)), rampWidth); generator.translate(landingLength / 2.0, 0.0, 0.0); addPlanarRegionsToTerrain(YoAppearance.Grey()); }
public SingleStepEnvironment(double stepUpHeight, double stepLength) { // first ground plane generator.identity(); generator.addRectangle(2.0, 2.0); // step generator.translate(1.0 + 0.5 * stepLength, 0.0, stepUpHeight); generator.addRectangle(stepLength, 2.0); generator.identity(); generator.translate(1.0, 0.0, 0.5 * stepUpHeight); generator.rotate(0.5 * Math.PI, Axis.Y); generator.addRectangle(stepUpHeight, 2.0); generator.identity(); generator.translate(1.0 + stepLength, 0.0, 0.5 * stepUpHeight); generator.rotate(0.5 * Math.PI, Axis.Y); generator.addRectangle(stepUpHeight, 2.0); // second ground plane generator.identity(); generator.translate(2.0 + stepLength, 0.0, 0.0); generator.addRectangle(2.0, 2.0); addPlanarRegionsToTerrain(YoAppearance.Grey()); } }
private PlanarRegionsList createSimpleOcclusionField(Point3D startPoseToPack, Point3D goalPoseToPack) { PlanarRegionsListGenerator generator = new PlanarRegionsListGenerator(); // generator.rotate(Math.toRadians(10.0), Axis.X); generator.addRectangle(6.0, 6.0); generator.translate(-1.0, -1.0, 0.5); generator.rotate(-Math.PI / 2.0, Axis.Y); generator.addRectangle(1.0, 4.0); generator.identity(); // generator.rotate(Math.toRadians(10.0), Axis.X); generator.translate(1.0, 1.0, 0.5); generator.rotate(-Math.PI / 2.0, Axis.Y); generator.addRectangle(1.0, 4.0); startPoseToPack.set(-2.0, -2.0, 0.0); // RotationMatrixTools.applyRollRotation(Math.toRadians(10.0), startPoseToPack, startPoseToPack); goalPoseToPack.set(2.0, 2.0, 0.0); // RotationMatrixTools.applyRollRotation(Math.toRadians(10.0), goalPoseToPack, goalPoseToPack); return generator.getPlanarRegionsList(); }
private PlanarRegionsList createFlatGround(Point3D startPoseToPack, Point3D goalPoseToPack) { PlanarRegionsListGenerator generator = new PlanarRegionsListGenerator(); generator.addRectangle(50.0, 5.0); startPoseToPack.set(-18.005, -2.001, 0.0); // RotationMatrixTools.applyRollRotation(Math.toRadians(10.0), startPoseToPack, startPoseToPack); goalPoseToPack.set(18.005, 2.001, 0.0); // RotationMatrixTools.applyRollRotation(Math.toRadians(10.0), goalPoseToPack, goalPoseToPack); return generator.getPlanarRegionsList(); }
public ZigZagSlopeEnvironment(double rampSlope, double rampLength, int numberOfRamps, double heightAtRampMiddle) { double rampLengthX = rampLength * Math.cos(rampSlope); double startX = -0.5 * rampLengthX * (numberOfRamps - 1); double slopeSign = -1.0; for (int i = 0; i < numberOfRamps; i++) { generator.identity(); generator.translate(startX + i * rampLengthX, 0.0, heightAtRampMiddle); generator.rotate(rampSlope * slopeSign, Axis.Y); generator.addRectangle(rampLength, 1.0); slopeSign *= -1.0; } addPlanarRegionsToTerrain(YoAppearance.Grey()); } }
public void addRamp(double length, double deltaZ) { checkHasNotBeenGenerated(); generator.translate(length / 2.0, 0.0, deltaZ / 2.0); generator.rotate(-Math.atan2(deltaZ, length), Axis.Y); generator.addRectangle(Math.sqrt(MathTools.square(length) + MathTools.square(deltaZ)), rampWidth); generator.rotate(Math.atan2(deltaZ, length), Axis.Y); generator.translate(length / 2.0, 0.0, deltaZ / 2.0); addPlanarRegionsToTerrain(YoAppearance.Grey()); } }
public void addCubeReferencedAtCenter(double lengthX, double widthY, double heightZ) { RigidBodyTransformGenerator transformGeneratorTwo = new RigidBodyTransformGenerator(transformGenerator); transformGeneratorTwo.set(transformGenerator); transformGeneratorTwo.translate(0.0, 0.0, heightZ / 2.0); addRectangle(transformGeneratorTwo, lengthX, widthY); transformGeneratorTwo.translate(0.0, 0.0, -heightZ); transformGeneratorTwo.rotate(Math.PI, Axis.Y); addRectangle(transformGeneratorTwo, lengthX, widthY); transformGeneratorTwo.rotate(Math.PI, Axis.Y); transformGeneratorTwo.set(transformGenerator); transformGeneratorTwo.rotate(Math.PI / 2.0, Axis.Y); transformGeneratorTwo.translate(0.0, 0.0, lengthX / 2.0); addRectangle(transformGeneratorTwo, heightZ, widthY); transformGeneratorTwo.translate(0.0, 0.0, -lengthX); transformGeneratorTwo.rotate(Math.PI, Axis.Y); addRectangle(transformGeneratorTwo, heightZ, widthY); transformGeneratorTwo.rotate(Math.PI, Axis.Y); transformGeneratorTwo.set(transformGenerator); transformGeneratorTwo.rotate(Math.PI / 2.0, Axis.X); transformGeneratorTwo.translate(0.0, 0.0, widthY / 2.0); addRectangle(transformGeneratorTwo, lengthX, heightZ); transformGeneratorTwo.translate(0.0, 0.0, -widthY); transformGeneratorTwo.rotate(Math.PI, Axis.X); addRectangle(transformGeneratorTwo, lengthX, heightZ); transformGeneratorTwo.rotate(Math.PI, Axis.X); }
@Test(timeout = TIMEOUT) @ContinuousIntegrationTest(estimatedDuration = 10.0) public void testFlatGroundWithWall() { Point3D startPose = new Point3D(-4.805, 0.001, 0.0); Point3D goalPose = new Point3D(4.805, 0.001, 0.0); PlanarRegionsListGenerator generator = new PlanarRegionsListGenerator(); generator.addRectangle(10.0, 5.0); generator.translate(0.0, 0.0, 1.0); generator.rotate(Math.PI / 2.0, Axis.Y); generator.rotate(Math.PI / 2.0, Axis.Z); generator.addRectangle(3.0, 2.0); PlanarRegionsList regions = generator.getPlanarRegionsList(); runTest(startPose, goalPose, regions, OcclusionMethod.OCCLUSION, defaultMaxAllowedSolveTime); }
public TwoBollardEnvironment(double barrelSeparation) { // ground plane generator.addRectangle(1.0, barrelSeparation + 0.5); generator.translate(2.0, 0.0, 0.0); generator.addRectangle(3.0, 3.0); generator.translate(-4.0, 0.0, 0.0); generator.addRectangle(3.0, 3.0); addPlanarRegionsToTerrain(YoAppearance.RGBColor(110 / 256.0, 121 / 256.0, 121 / 256.0)); // first bollard generator.identity(); generator.translate(0.0, 0.5 * barrelSeparation, 0.0); generator.addCubeReferencedAtBottomMiddle(bollardWidth, bollardWidth, bollardHeight); addPlanarRegionsToTerrain(YoAppearance.Yellow()); // second bollard generator.identity(); generator.translate(0.0, -0.5 * barrelSeparation, 0.0); generator.addCubeReferencedAtBottomMiddle(bollardWidth, bollardWidth, bollardHeight); addPlanarRegionsToTerrain(YoAppearance.Yellow()); }
private PlanarRegionsList createSimpleOcclusionField(FramePose3D startPoseToPack, FramePose3D goalPoseToPack) { PlanarRegionsListGenerator generator = new PlanarRegionsListGenerator(); generator.rotate(Math.toRadians(10.0), Axis.X); generator.addRectangle(6.0, 6.0); generator.translate(-1.0, -1.0, 0.5); generator.rotate(-Math.PI / 2.0, Axis.Y); generator.addRectangle(1.0, 4.0); generator.identity(); generator.rotate(Math.toRadians(10.0), Axis.X); generator.translate(1.0, 1.0, 0.5); generator.rotate(-Math.PI / 2.0, Axis.Y); generator.addRectangle(1.0, 4.0); startPoseToPack.setToZero(ReferenceFrame.getWorldFrame()); startPoseToPack.setOrientationYawPitchRoll(Math.PI / 2.0, 0.0, 0.0); startPoseToPack.setPosition(-2.0, -2.0, 0.0); startPoseToPack.prependRollRotation(Math.toRadians(10.0)); goalPoseToPack.setToZero(ReferenceFrame.getWorldFrame()); goalPoseToPack.setOrientationYawPitchRoll(Math.PI / 2.0, 0.0, 0.0); goalPoseToPack.setPosition(2.0, 2.0, 0.0); goalPoseToPack.prependRollRotation(Math.toRadians(10.0)); return generator.getPlanarRegionsList(); }
public VaryingHeightTiledGroundEnvironment(double tileWidth, int courseLengthInNumberOfTiles, int courseWidthInNumberOfTiles, double nominalGroundHeight, double maxHeightVariation) { generator.identity(); double startCoordinateX = - 0.5 * tileWidth * (courseLengthInNumberOfTiles - 1); double startCoordinateY = - 0.5 * tileWidth * (courseWidthInNumberOfTiles- 1); for (int i = 0; i < courseLengthInNumberOfTiles; i++) { for (int j = 0; j < courseWidthInNumberOfTiles; j++) { double tilePositionX = startCoordinateX + tileWidth * i; double tilePositionY = startCoordinateY + tileWidth * j; double tilePositionZ = nominalGroundHeight + EuclidCoreRandomTools.nextDouble(random, 0.5 * maxHeightVariation); generator.translate(tilePositionX, tilePositionY, tilePositionZ); generator.addRectangle(tileWidth, tileWidth); generator.identity(); } } addPlanarRegionsToTerrain(YoAppearance.Grey()); } }
generator.addRectangle(startingBlockLength, 1.75); generator.translate(0.5 * (startingBlockLength - stepLength), 0.0, 0.0); generator.addRectangle(startingBlockLength, 1.75);
private static PlanarRegionsList generateRandomTerrain(Random random) { PlanarRegionsListGenerator generator = new PlanarRegionsListGenerator(); generator.translate(0.0, 0.0, 0.001); generator.addRectangle(14.0, 3.0); // floor plane double length = RandomNumbers.nextDouble(random, 0.3, 1.0); double width = RandomNumbers.nextDouble(random, 0.3, 1.0); double height = RandomNumbers.nextDouble(random, 0.07, 0.3); for (int i = 0; i < 100; i++) { generator.identity(); Vector3D translationVector = RandomGeometry.nextVector3D(random, -5.0, -1.0, -0.05, 5.0, 1.0, 0.0); generator.translate(translationVector); Quaternion rotation = RandomGeometry.nextQuaternion(random, Math.toRadians(15.0)); generator.rotate(rotation); generator.addCubeReferencedAtBottomMiddle(length, width, height); } PlanarRegionsList planarRegionsList = generator.getPlanarRegionsList(); return planarRegionsList; }
public static PlanarRegionsList generateStairCase(Vector3D translationVector, Vector3D rotationVector) { PlanarRegionsListGenerator generator = new PlanarRegionsListGenerator(); generator.translate(translationVector); int numberOfSteps = 5; double length = 0.4; double width = 0.8; double height = 0.1; generator.translate(length * numberOfSteps / 2.0, 0.0, 0.001); generator.addRectangle(1.2 * length * numberOfSteps, 1.2 * width); generator.identity(); generator.translate(translationVector); generator.translate(length, 0.0, 0.0); generator.rotateEuler(rotationVector); for (int i = 0; i < numberOfSteps; i++) { generator.addCubeReferencedAtBottomMiddle(length, width, height); generator.translate(length, 0.0, 0.0); height = height + 0.1; } PlanarRegionsList planarRegionsList = generator.getPlanarRegionsList(); return planarRegionsList; }
public BoxTestData() { super(box); PlanarRegionsListGenerator generator = new PlanarRegionsListGenerator(); generator.translate(2.0, 0.0, 0.0001); generator.addRectangle(5.0, 5.0); generator.addCubeReferencedAtBottomMiddle(1.0, 1.0, 1.0); PlanarRegionsList planarRegionsList = generator.getPlanarRegionsList(); // define start and goal conditions FramePose3D initialStanceFootPose = new FramePose3D(worldFrame); initialStanceFootPose.setPosition(0.0, 0.15, 0.0); RobotSide initialStanceSide = RobotSide.LEFT; FramePose3D goalPose = new FramePose3D(worldFrame); goalPose.setPosition(4.0, 0.0, 0.0); setStartPose(initialStanceFootPose); setGoalPose(goalPose); setPlanarRegions(planarRegionsList); setStartSide(initialStanceSide); } }
public SimpleStepOnBoxTestData() { super(simpleStepOnBox); // create planar regions double stepHeight = 0.2; double boxSize = 1.0; PlanarRegionsListGenerator generator = new PlanarRegionsListGenerator(); generator.translate(1.0 + boxSize / 2.0, 0.0, 0.0); generator.addCubeReferencedAtBottomMiddle(boxSize, boxSize, stepHeight); generator.translate(0.0, 0.0, 0.001); generator.addRectangle(5.0, 5.0); // floor plane // define start and goal conditions FramePose3D initialStanceFootPose = new FramePose3D(worldFrame); RobotSide initialStanceSide = RobotSide.LEFT; FramePose3D goalPose = new FramePose3D(worldFrame); goalPose.setPosition(1.0 + boxSize / 2.0, 0.0, stepHeight); // run the test PlanarRegionsList planarRegionsList = generator.getPlanarRegionsList(); setStartPose(initialStanceFootPose); setGoalPose(goalPose); setPlanarRegions(planarRegionsList); setStartSide(initialStanceSide); } }
public void addRampReferencedAtBottomMiddle(double lengthX, double widthY, double heightZ) { RigidBodyTransformGenerator transformGeneratorTwo = new RigidBodyTransformGenerator(transformGenerator); double slope = Math.atan2(heightZ, lengthX); transformGeneratorTwo.set(transformGenerator); transformGeneratorTwo.translate(lengthX / 2.0, 0.0, heightZ / 2.0); transformGeneratorTwo.rotate(-slope, Axis.Y); addRectangle(transformGeneratorTwo, EuclidGeometryTools.pythagorasGetHypotenuse(lengthX, heightZ), widthY); ConvexPolygon2D leftSide = new ConvexPolygon2D(); leftSide.addVertex(0.0, 0.0); leftSide.addVertex(- lengthX, 0.0); leftSide.addVertex(- lengthX, heightZ); leftSide.update(); ConvexPolygon2D rightSide = new ConvexPolygon2D(); rightSide.addVertex(0.0, 0.0); rightSide.addVertex(lengthX, 0.0); rightSide.addVertex(lengthX, heightZ); rightSide.update(); transformGeneratorTwo.set(transformGenerator); transformGeneratorTwo.translate(0.0, 0.5 * widthY, 0.0); transformGeneratorTwo.rotate(0.5 * Math.PI, Axis.X); transformGeneratorTwo.rotate(Math.PI, Axis.Y); addPolygon(transformGeneratorTwo, leftSide); transformGeneratorTwo.set(transformGenerator); transformGeneratorTwo.translate(0.0, -0.5 * widthY, 0.0); transformGeneratorTwo.rotate(0.5 * Math.PI, Axis.X); addPolygon(transformGeneratorTwo, rightSide); }